AngleCompensator Class Reference

#include <angle_compensator.h>

Public Member Functions
	AngleCompensator ()
	AngleCompensator (bool _useNegSign)
double	compensateAngleInDeg (double angleInDeg)
	Compensate raw angle given in [DEG]. More...
double	compensateAngleInRad (double angleInRad)
	Compensate raw angle given in [RAD]. More...
double	compensateAngleInRadFromRos (double angleInRadFromRos)
	Compensate raw angle given in [RAD] in the ROS axis orientation system. More...
std::string	getHumanReadableFormula (void)
int	parseAsciiReply (const char *asciiReply)
	Parse ASCII reply. More...
int	parseReply (bool isBinary, std::vector< unsigned char > &replyVec)
	Parse reply of angle compensation values given the command MCAngleCompSin (see testbed) More...
void	testbed ()
	Testbed for angle compensation. More...

Private Attributes
double	amplCorr
double	offsetCorrInDeg
double	offsetCorrInRad
double	phaseCorrInDeg
double	phaseCorrInRad
bool	useNegSign

Detailed Description

Definition at line 11 of file angle_compensator.h.

Constructor & Destructor Documentation

AngleCompensator() [1/2]

AngleCompensator::AngleCompensator ( )

inline

Definition at line 21 of file angle_compensator.h.

AngleCompensator() [2/2]

AngleCompensator::AngleCompensator ( bool  _useNegSign )

inline

Definition at line 25 of file angle_compensator.h.

Member Function Documentation

compensateAngleInDeg()

double AngleCompensator::compensateAngleInDeg

(

double

angleInDeg

)

Compensate raw angle given in [DEG].

Parameters

angleInDeg

raw angle in [DEG]

Definition at line 173 of file angle_compensator.cpp.

compensateAngleInRad()

double AngleCompensator::compensateAngleInRad

(

double

angleInRad

)

Compensate raw angle given in [RAD].

Parameters

angleInRad

raw angle in [RAD]

Definition at line 156 of file angle_compensator.cpp.

compensateAngleInRadFromRos()

double AngleCompensator::compensateAngleInRadFromRos

(

double

angleInRadFromRos

)

Compensate raw angle given in [RAD] in the ROS axis orientation system.

Parameters

angleInRad

raw angle in [RAD] (

Definition at line 116 of file angle_compensator.cpp.

getHumanReadableFormula()

std::string AngleCompensator::getHumanReadableFormula

(

void

)

Definition at line 342 of file angle_compensator.cpp.

parseAsciiReply()

int AngleCompensator::parseAsciiReply

(

const char *

replyStr

)

Parse ASCII reply.

Parameters

replyStr

holds reply with the angular compensation information

Definition at line 194 of file angle_compensator.cpp.

parseReply()

int AngleCompensator::parseReply	(	bool	isBinary,
		std::vector< unsigned char > &	replyVec
	)

Parse reply of angle compensation values given the command MCAngleCompSin (see testbed)

Parameters

isBinary	reply is in binary format (true) or in ASCII format (false)
replyVec	holds received byte array

Definition at line 268 of file angle_compensator.cpp.

testbed()

void AngleCompensator::testbed

(

)

Testbed for angle compensation.

Definition at line 370 of file angle_compensator.cpp.

Member Data Documentation

amplCorr

double AngleCompensator::amplCorr

private

Definition at line 31 of file angle_compensator.h.

offsetCorrInDeg

double AngleCompensator::offsetCorrInDeg

private

Definition at line 33 of file angle_compensator.h.

offsetCorrInRad

double AngleCompensator::offsetCorrInRad

private

Definition at line 35 of file angle_compensator.h.

phaseCorrInDeg

double AngleCompensator::phaseCorrInDeg

private

Definition at line 32 of file angle_compensator.h.

phaseCorrInRad

double AngleCompensator::phaseCorrInRad

private

Definition at line 34 of file angle_compensator.h.

useNegSign

bool AngleCompensator::useNegSign

private

Definition at line 36 of file angle_compensator.h.

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The documentation for this class was generated from the following files:

• angle_compensator.h
• angle_compensator.cpp